OpenRaiser/Intern-Atlas huggingface dataset:
Correlated Utility-based Pattern Mining
Venue: arXiv cs.DB 2019
Year: 2019

In the field of data mining and analytics, the utility theory from Economic can bring benefits in many real-life applications. In recent decade, a new research field called utility-oriented mining has already attracted great attention. Previous studies have, however, the limitation that they rarely consider the inherent correlation of items among patterns. Consider the purchase behaviors of consumer, a high-utility group of products (w.r.t. multi-products) may contain several very high-utility products with some low-utility products. However, it is considered as a valuable pattern even if this behavior/pattern may be not highly correlated, or even happen by chance. In this paper, in light of these challenges, we propose an efficient utility mining approach namely non-redundant Correlated high-Utility Pattern Miner (CoUPM) by taking positive correlation and profitable value into account. The derived patterns with high utility and strong positive correlation can lead to more insightful availability than those patterns only have high profitable values. The utility-list structure is revised and applied to store necessary information of both correlation and utility. Several pruning strategies are further developed to improve the efficiency for discovering the desired patterns. Experimental results show that the non-redundant correlated high-utility patterns have more effectiveness than some other kinds of interesting patterns. Moreover, efficiency of the proposed CoUPM algorithm significantly outperforms the state-of-the-art algorithm.
Utilizing Bluetooth Low Energy to recognize proximity, touch and humans
Venue: arXiv cs.RO 2019
Year: 2019

Interacting with humans is one of the main challenges for mobile robots in a human inhabited environment. To enable adaptive behavior, a robot needs to recognize touch gestures and/or the proximity to interacting individuals. Moreover, a robot interacting with two or more humans usually needs to distinguish between them. However, this remains both a configuration and cost intensive task. In this paper we utilize inexpensive Bluetooth Low Energy (BLE) devices and propose an easy and configurable technique to enhance the robot's capabilities to interact with surrounding people. In a noisy laboratory setting, a mobile spherical robot is utilized in three proof-of-concept experiments of the proposed system architecture. Firstly, we enhance the robot with proximity information about the individuals in the surrounding environment. Secondly, we exploit BLE to utilize it as a touch sensor. And lastly, we use BLE to distinguish between interacting individuals. Results show that observing the raw received signal strength (RSS) between BLE devices already enhances the robot's interaction capabilities and that the provided infrastructure can be facilitated to enable adaptive behavior in the future. We show one and the same sensor system can be used to detect different types of information relevant in human-robot interaction (HRI) experiments.
Well-Rounded Lattices via Polynomials
Venue: arXiv cs.IT 2019
Year: 2019

Well-rounded lattices have been a topic of recent studies with applications in wiretap channels and in cryptography. A lattice of full rank in Euclidean space is called well-rounded if its set of minimal vectors spans the whole space. In this paper, we investigate when lattices coming from polynomials with integer coefficients are well-rounded.
Automatic Target Recognition Using Discrimination Based on Optimal Transport
Venue: arXiv cs.CV 2019
Year: 2019

The use of distances based on optimal transportation has recently shown promise for discrimination of power spectra. In particular, spectral estimation methods based on l1 regularization as well as covariance based methods can be shown to be robust with respect to such distances. These transportation distances provide a geometric framework where geodesics corresponds to smooth transition of spectral mass, and have been useful for tracking. In this paper, we investigate the use of these distances for automatic target recognition. We study the use of the Monge-Kantorovich distance compared to the standard l2 distance for classifying civilian vehicles based on SAR images. We use a version of the Monge-Kantorovich distance that applies also for the case where the spectra may have different total mass, and we formulate the optimization problem as a minimum flow problem that can be computed using efficient algorithms.
Randomised Bayesian Least-Squares Policy Iteration
Venue: arXiv cs.LG 2019
Year: 2019

We introduce Bayesian least-squares policy iteration (BLSPI), an off-policy, model-free, policy iteration algorithm that uses the Bayesian least-squares temporal-difference (BLSTD) learning algorithm to evaluate policies. An online variant of BLSPI has been also proposed, called randomised BLSPI (RBLSPI), that improves its policy based on an incomplete policy evaluation step. In online setting, the exploration-exploitation dilemma should be addressed as we try to discover the optimal policy by using samples collected by ourselves. RBLSPI exploits the advantage of BLSTD to quantify our uncertainty about the value function. Inspired by Thompson sampling, RBLSPI first samples a value function from a posterior distribution over value functions, and then selects actions based on the sampled value function. The effectiveness and the exploration abilities of RBLSPI are demonstrated experimentally in several environments.
Place-specific Background Modeling Using Recursive Autoencoders
Venue: arXiv cs.CV 2019
Year: 2019

Image change detection (ICD) to detect changed objects in front of a vehicle with respect to a place-specific background model using an on-board monocular vision system is a fundamental problem in intelligent vehicle (IV). From the perspective of recent large-scale IV applications, it can be impractical in terms of space/time efficiency to train place-specific background models for every possible place. To address these issues, we introduce a new autoencoder (AE) based efficient ICD framework that combines the advantages of AE-based anomaly detection (AD) and AE-based image compression (IC). We propose a method that uses AE reconstruction errors as a single unified measure for training a minimal set of place-specific AEs and maintains detection accuracy. We introduce an efficient incremental recursive AE (rAE) training framework that recursively summarizes a large collection of background images into the AE set. The results of experiments on challenging cross-season ICD tasks validate the efficacy of the proposed approach.
A characterization of maximal 2-dimensional subgraphs of transitive graphs
Venue: arXiv cs.DM 2019
Year: 2019

A transitive graph is 2-dimensional if it can be represented as the intersection of two linear orders. Such representations make answering of reachability queries trivial, and allow many problems that are NP-hard on arbitrary graphs to be solved in polynomial time. One may therefore be interested in finding 2-dimensional graphs that closely approximate a given graph of arbitrary order dimension. In this paper we show that the maximal 2-dimensional subgraphs of a transitive graph G are induced by the optimal near-transitive orientations of the complement of G. The same characterization holds for the maximal permutation subgraphs of a transitively orientable graph. We provide an algorithm that enables this problem reduction in near-linear time, and an approach for enlarging non-maximal 2-dimensional subgraphs, such as trees.
Markov Processes in Blockchain Systems
Venue: arXiv cs.CR 2019
Year: 2019

In this paper, we develop a more general framework of block-structured Markov processes in the queueing study of blockchain systems, which can provide analysis both for the stationary performance measures and for the sojourn times of any transaction and block. Note that an original aim of this paper is to generalize the two-stage batch-service queueing model studied in Li et al. \cite{Li:2018} both ``from exponential to phase-type" service times and ``from Poisson to MAP" transaction arrivals. In general, the MAP transaction arrivals and the two stages of PH service times make our blockchain queue more suitable to various practical conditions of blockchain systems with crucial random factors, for example, the mining processes, the block-generations, the blockchain-building and so forth. For such a more general blockchain queueing model, we focus on two basic research aspects: (1) By using the matrix-geometric solution, we first obtain a sufficient stable condition of the blockchain system. Then we provide simple expressions for the average number of transactions in the queueing waiting room, and the average number of transactions in the block. (2) However, comparing with Li et al. \cite{Li:2018}, analysis of the transaction-confirmation time becomes very difficult and challenging due to the complicated blockchain structure. To overcome the difficulties, we develop a computational technique of the first passage times by means of both the PH distributions of infinite sizes and the $RG$-factorizations. Finally, we hope that the methodology and results given in this paper will open a new avenue to queueing analysis of more general blockchain systems in practice, and can motivate a series of promising future research on development of lockchain technologies.
Teaching GANs to Sketch in Vector Format
Venue: arXiv cs.GR 2019
Year: 2019

Sketching is more fundamental to human cognition than speech. Deep Neural Networks (DNNs) have achieved the state-of-the-art in speech-related tasks but have not made significant development in generating stroke-based sketches a.k.a sketches in vector format. Though there are Variational Auto Encoders (VAEs) for generating sketches in vector format, there is no Generative Adversarial Network (GAN) architecture for the same. In this paper, we propose a standalone GAN architecture SkeGAN and a VAE-GAN architecture VASkeGAN, for sketch generation in vector format. SkeGAN is a stochastic policy in Reinforcement Learning (RL), capable of generating both multidimensional continuous and discrete outputs. VASkeGAN hybridizes a VAE and a GAN, in order to couple the efficient representation of data by VAE with the powerful generating capabilities of a GAN, to produce visually appealing sketches. We also propose a new metric called the Ske-score which quantifies the quality of vector sketches. We have validated that SkeGAN and VASkeGAN generate visually appealing sketches by using Human Turing Test and Ske-score.
Cause Mining and Controller Synthesis with STL
Venue: arXiv cs.LO 2019
Year: 2019

Formal control of cyber-physical systems allows for synthesis of control strategies from rich specifications such as temporal logics. However, the classes of systems that the formal approaches can be applied to is limited due to the computational complexity. Furthermore, the synthesis problem becomes even harder when non-determinism or stochasticity is considered. In this work, we propose an alternative approach. First, we mark the unwanted events on the traces of the system and generate a controllable cause representing these events as a Signal Temporal Logic (STL) formula. Then, we synthesize a controller based on this formula to avoid the satisfaction of it. Our approach is applicable to any system with finitely many control choices. While we can not guarantee correctness, i.e., the unwanted events will never occur, we show on an example that the proposed approach reduces the number of the unwanted events. In particular, we validate it for the congestion avoidance problem in a traffic network.
Outstanding Bit Error Tolerance of Resistive RAM-Based Binarized Neural Networks
Venue: arXiv cs.ET 2019
Year: 2019

Resistive random access memories (RRAM) are novel nonvolatile memory technologies, which can be embedded at the core of CMOS, and which could be ideal for the in-memory implementation of deep neural networks. A particularly exciting vision is using them for implementing Binarized Neural Networks (BNNs), a class of deep neural networks with a highly reduced memory footprint. The challenge of resistive memory, however, is that they are prone to device variation, which can lead to bit errors. In this work we show that BNNs can tolerate these bit errors to an outstanding level, through simulations of networks on the MNIST and CIFAR10 tasks. If a standard BNN is used, up to 10^-4 bit error rate can be tolerated with little impact on recognition performance on both MNIST and CIFAR10. We then show that by adapting the training procedure to the fact that the BNN will be operated on error-prone hardware, this tolerance can be extended to a bit error rate of 4x10^-2. The requirements for RRAM are therefore a lot less stringent for BNNs than more traditional applications. We show, based on experimental measurements on a RRAM HfO2 technology, that this result can allow reduce RRAM programming energy by a factor 30.
Optimal control of batch processes via a deterministic Q-learning method
Venue: arXiv cs.SY 2019
Year: 2019

Dynamic optimization of nonlinear chemical systems -- such as batch reactors -- should be applied online, and the suitable control taken should be according to the current state of the system rather than the current time instant. The recent state of the art methods applies the control based on the current time instant only. This is not suitable for most cases, as it is not robust to possible changes in the system. This paper proposes a Deterministic Q-Learning method to conduct robust online optimization of batch reactors. In this paper, the Q-Learning method is applied on simple batch reactor models; and in order to show the effectiveness of the proposed method the results are compared to other dynamic optimization methods. The main advantage of the Q-learning method or the proposed method is that it can accommodate unplanned changes during the process via changing the control action; i.e. the main advantage of the proposed method that it can overcome sudden changes during the reaction. In general, we try to maximize the final product obtained or meet certain specifications of the products (e.g. minimize side products).
An Open Source Modeling Framework for Interdependent Energy-Transportation- Communication Infrastructure in Smart and Connected Communities
Venue: arXiv cs.SY 2019
Year: 2019

Infrastructure in future smart and connected communities is envisioned as an aggregate of public services, including the energy, transportation and communication systems, all intertwined with each other. The intrinsic interdependency among these systems may exert underlying influence on both design and operation of the heterogeneous infrastructures. However, few prior studies have tapped into the interdependency among the three systems in order to quantify their potential impacts during standard operation. In response to this, this paper proposes an open source, flexible, integrated modeling framework suitable for designing coupled energy, transportation, and communication systems and for assessing the impact of their interdependencies. First, a novel multi-level, multi-layer, multi-agent approach is proposed to enable flexible modeling of the interconnected energy, transportation, and communication systems. Then, for the framework's proof-of-concept, preliminary component and system-level models for different systems are designed and implemented using Modelica, an equation-based object-oriented modeling language. Finally, three case studies of gradually increasing complexity are presented (energy, energy + transportation, energy + transportation + communication) to evaluate the interdependencies among the three systems. Quantitative analyses show that the deviation of the average velocity on the road can be 10.5\% and the deviation of the power draw from the grid can be 7\% with or without considering the transportation and communication system at the peak commute time, indicating the presence of notable interdependencies. The proposed modeling framework also has the potential to be further extended for various modeling purposes and use cases, such as dynamic modeling and optimization, resilience analysis, and integrated decision making in future connected communities.
Proposing a Localized Relevance Vector Machine for Pattern Classification
Venue: arXiv cs.LG 2019
Year: 2019

Relevance vector machine (RVM) can be seen as a probabilistic version of support vector machines which is able to produce sparse solutions by linearly weighting a small number of basis functions instead using all of them. Regardless of a few merits of RVM such as giving probabilistic predictions and relax of parameter tuning, it has poor prediction for test instances that are far away from the relevance vectors. As a solution, we propose a new combination of RVM and k-nearest neighbor (k-NN) rule which resolves this issue with regionally dealing with every test instance. In our settings, we obtain the relevance vectors for each test instance in the local area given by k-NN rule. In this way, relevance vectors are closer and more relevant to the test instance which results in a more accurate model. This can be seen as a piece-wise learner which locally classifies test instances. The model is hence called localized relevance vector machine (LRVM). The LRVM is examined on several datasets of the University of California, Irvine (UCI) repository. Results supported by statistical tests indicate that the performance of LRVM is competitive as compared with a few state-of-the-art classifiers.
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
Venue: arXiv cs.RO 2019
Year: 2019

We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build a model of the environment on-line and on-board using an efficient occupancy grid representation. We use Any-time-Repairing A* (ARA*) to search over a tree of possible actions, choose a rough body path and select the locally-best footholds accordingly. We run a n-step lookahead optimization of the body trajectory using a dynamic stability metric, the Zero Moment Point (ZMP), that generates natural dynamic whole-body motions. A combination of floating-base inverse dynamics and virtual model control accurately executes the desired motions on an actively compliant system. Experimental trials show that this framework allows us to traverse terrains at nearly 6 times the speed of our previous work, evaluated over the same set of trials.
Neo: A Learned Query Optimizer
Venue: arXiv cs.DB 2019
Year: 2019

Query optimization is one of the most challenging problems in database systems. Despite the progress made over the past decades, query optimizers remain extremely complex components that require a great deal of hand-tuning for specific workloads and datasets. Motivated by this shortcoming and inspired by recent advances in applying machine learning to data management challenges, we introduce Neo (Neural Optimizer), a novel learning-based query optimizer that relies on deep neural networks to generate query executions plans. Neo bootstraps its query optimization model from existing optimizers and continues to learn from incoming queries, building upon its successes and learning from its failures. Furthermore, Neo naturally adapts to underlying data patterns and is robust to estimation errors. Experimental results demonstrate that Neo, even when bootstrapped from a simple optimizer like PostgreSQL, can learn a model that offers similar performance to state-of-the-art commercial optimizers, and in some cases even surpass them.
Multiple Model Poisson Multi-Bernoulli Mixture Filter for Maneuvering Targets
Venue: arXiv cs.SY 2019
Year: 2019

The Poisson multi-Bernoulli mixture (PMBM) filter is conjugate prior composed of the union of a Poisson point process (PPP) and a multi-Bernoulli mixture (MBM). In this paper, a new PMBM filter for tracking multiple targets with randomly time-varying dynamics under multiple model (MM) is considered. The proposed MM-PMBM filter uses extends the single-model PMBM filter recursion to multiple motion models by using the jump Markov system (JMS). The performance of the proposed algorithm is examined and compared with the MM-MB filter. The simulation results demonstrate that the proposed MM-PMBM filter outperforms the MM-MB filter in terms of the tracking accuracy, including the target states and cardinality, especially for the scenerio with low detection probability. Moreover, the comparisons for the variations of detection probability and standard derivation of measurement noise are also tested via simulation experiments.
Visible Light Communication for Next Generation Untethered Virtual Reality Systems
Venue: arXiv cs.NI 2019
Year: 2019

Virtual and augmented reality (VR/AR) systems are emerging technologies requiring data rates of multiple Gbps. Existing high quality VR headsets require connections through HDMI cables to a computer rendering rich graphic contents to meet the extremely high data transfer rate requirement. Such a cable connection limits the VR user's mobility and interferes with the VR experience. Current wireless technologies such as WiFi cannot support the multi-Gbps graphics data transfer. Instead, we propose to use visible light communication (VLC) for establishing high speed wireless links between a rendering computer and a VR headset. But, VLC transceivers are highly directional with narrow beams and require constant maintenance of line-of-sight (LOS) alignment between the transmitter and the receiver. Thus, we present a novel multi-detector hemispherical VR headset design to tackle the beam misalignment problem caused by the VR user's random head orientation. We provide detailed analysis on how the number of detectors on the headset can be minimized while maintaining the required beam alignment and providing high quality VR experience.
JumpReLU: A Retrofit Defense Strategy for Adversarial Attacks
Venue: arXiv cs.CR 2019
Year: 2019

It has been demonstrated that very simple attacks can fool highly-sophisticated neural network architectures. In particular, so-called adversarial examples, constructed from perturbations of input data that are small or imperceptible to humans but lead to different predictions, may lead to an enormous risk in certain critical applications. In light of this, there has been a great deal of work on developing adversarial training strategies to improve model robustness. These training strategies are very expensive, in both human and computational time. To complement these approaches, we propose a very simple and inexpensive strategy which can be used to ``retrofit'' a previously-trained network to improve its resilience to adversarial attacks. More concretely, we propose a new activation function---the JumpReLU---which, when used in place of a ReLU in an already-trained model, leads to a trade-off between predictive accuracy and robustness. This trade-off is controlled by the jump size, a hyper-parameter which can be tuned during the validation stage. Our empirical results demonstrate that this increases model robustness, protecting against adversarial attacks with substantially increased levels of perturbations. This is accomplished simply by retrofitting existing networks with our JumpReLU activation function, without the need for retraining the model. Additionally, we demonstrate that adversarially trained (robust) models can greatly benefit from retrofitting.